# Papers

B.E. (Electrical) ROBOTICS AND AUTOMATION (2008 Pattern) (Elective – I) (Sem. – I)

Time : 3 Hours]                                                                                            [Max. Marks : 100

Instructions to the candidates:

1)         Answers to the two sections should be written in separate books.

2)          Neat diagrams must be drawn wherever necessary.

3)          Pigures to the right indicate full marks.

5)         Assume suitable data, if necessary.

SECTION – I

QI) a) Explain different types of Automation.                                                                [6]

b)        What are the advantages and disadvantages of CNC machines over robots?    [6]

c)        Give historical development of Robot.                                                            [6]

OR

Q2) a) Explain degree of freedom.                                                                                    [6]

b)        Give concept of yaw, pitch and roll.                                                                [6]

c)        Define work volume, reach and compliance use neat sketches for each. [6]

Q3) a) Explain different types of joints.                                                                           [5]

b)        Explain different types of End-Effectors.                                                       [5]

c)        Draw and explain cylindrical Robot.                                                               [6]

OR

Q4) a) Explain Robot classification according to control methods.                            [8]

b) Explain selection criteria of drive (motor) and hence explain gear reduction ratio.        [8]

Q5) a) Robot manipulator is at location [0.8, – 0.8, 1]T is allowed to rotate by 60° in x-direction, 45° in j-direction and 30° in z-direction. Find co-ordinates of final point P of robot manipulator.                                                                        [10]

b) Explain in detail Translational Transformation.                                             [6]

OR

Write short note on concept of Homogeneous transformation with the help of Homogeneous co-ordinate.                                                                                                               [8]

Two points A = @4, 3, 2)T and B = @4, 2, 6)T are to be translated a distance +2 units along X-axis and – 3 units along Z-axis. Using the appropriate homogeneous transformation matrix, determine new points A’ and B’.                                                                                        [8]

SECTION – II

In 3R Robotic arm, the shoulder joint is arranged on the axis of a rotary base and the axis of rotation of shoulder and elbow joints are parallel to each other. Draw the diagram showing link co-ordinate system. [10]

 Link a a d 0 I 0 90 0 e, 2 a p 0 0 02 3 a 3 0 0 03

OR

What is direct approach in inverse kinematic.                                              [6]

Which are the four important parameters of D-H notation to describe how a frame. @i) Relates to previous frame @i-l) Give the technical definition of each parameter. [12]

Q9) a) Explain Lagrangian analysis for deriving dynamic equation of motion. [8] b) Explain joint position control with the help of neat sketch.                                            [8]

OR

QI 0) a) Explain resolved motion rate control using neat sketch.                     [8]

b) Give the concept of linear and angular velocity for manipulator differential motion.    [8]

QII) a) What is on line and off line programming.

b) Write Robot application in case of welding.                                                    [8]

OR

Q12) a) In case of spray painting, discuss the following points.                                  [8]

i)             Method of control required.

ii)           Selection of drive.

iii)         Types of robot.

b) Classify Robot specific languages on basis of hardware level and structured programming level.            [8]